CN102756669A - Multiplex control system, transport device with multiplex control system and control method - Google Patents
Multiplex control system, transport device with multiplex control system and control method Download PDFInfo
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- CN102756669A CN102756669A CN2012100213988A CN201210021398A CN102756669A CN 102756669 A CN102756669 A CN 102756669A CN 2012100213988 A CN2012100213988 A CN 2012100213988A CN 201210021398 A CN201210021398 A CN 201210021398A CN 102756669 A CN102756669 A CN 102756669A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0084—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to control modules
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/36—Vehicles designed to transport cargo, e.g. trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/36—Temperature of vehicle components or parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0297—Control Giving priority to different actuators or systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
A multiplex control system, a transport device with the multiplex control system and a control method are provided. The multiplex control system comprises a sensing module and at least two controllers. The sensing module is used for sensing the driving condition and outputting a plurality of sensing signals to each controller. The controllers have a primary controller and at least one secondary controller. Wherein the main controller obtains a plurality of power output values according to the sensing signals. The main controller and the auxiliary controller respectively drive a plurality of power wheels according to the power output values. If the main controller is damaged, one of the auxiliary controllers can obtain at least one power output value according to the sensing signals and drive the power wheels according to the power output value, so that the transportation device can still slowly run to a garage or a safe area for maintenance.
Description
Technical field
The present invention relates to a kind of multiplex control system, particularly a kind of conveying arrangement that is used to have many independent powers wheeled vehicle with multiplex control system.
Background technology
The raising that requires along with environmental protection, energy-conservation and peace and quiet etc.; Elec. vehicle more receives the attention of industry compared to traditional petrol and diesel oil vehicle, is all to be to describe the patent of elec. vehicle with patent case number like the patent case of TW 319071, TW 576810, TW 580472, TW 307319, WO 2008027320A3 and US 5222568 etc.And in order to promote driving efficiency, more and more many elec. vehicles adopt many wheel independent power wheels, and it does not need change-speed box, differential gear or other transmission components fully.Thus, the degradation of energy that can avoid transmission to cause.
Though the drive system of many wheel independent power wheels has above-mentioned advantage; But because of the power between each power wheel and rotating speed are output as independent separately; So vehicle need dispose master control system and allocate between two parties, with the various travel condition (differential when for example turning round concerns or adjusts the speed of a motor vehicle upper limit according to power condition) that satisfy vehicle.Yet if the signal parameter of required processing is when being higher than the higher limit that master control system can load, and master control system can be slack-off because of speed of response, lets the response time elongation of master control system.When if vehicle is in the situation of emergency brake, master control system ought to be handled brake signal immediately, and powered vehicle is promptly slowed down.But because of brake signal surpasses the higher limit that master control system can be loaded, cause vehicle to slow down immediately, then might cause driving danger peace incident.
Therefore, if master control system when machine or when damaging, then fully can't powered vehicle, let vehicle can only be parked in the roadside and wait for rescue.Can let navigating mate be in very unsafe environment like this.
In addition, elec. vehicle is on the market distinguished according to the number of independent power wheel has numerous car moneys, and producers need readjust parameter according to the characteristic of different vehicle when being installed on central process unit on the different vehicles.
Summary of the invention
The invention relates to a kind of multiplex control system and have the conveying arrangement and the control method thereof of multiplex control system, use solving the controller damage of being responsible for power distribution in the existing vehicle of prior art or working as machine, vehicle will be compelled to be parked in the problem in roadside.
The disclosed conveying arrangement with multiplex control system of one embodiment, it comprises a body and a multiplex control system.Wherein body comprises one first power wheel and one second power wheel, and first power wheel and second power wheel are articulated in the bottom of body respectively.Multiplex control system is disposed at body, and comprises sensing module, one first controller and one second controller.Wherein, sensing module is in order to the driving situation of sensing body, and exports a plurality of sensing signals according to this.First controller electrically connects first power wheel and second controller electrically connects second power wheel.
Wherein, When conveying arrangement operates; First controller obtains one first takeoff output value and one second takeoff output value according to those sensing signals; And drive first power wheel according to the first takeoff output value, and the second takeoff output value is reached second controller, second controller drives second power wheel according to the second takeoff output value.
The disclosed control method with conveying arrangement of multiplex control system of one embodiment, its step comprise startup one conveying arrangement, and conveying arrangement comprises one first power wheel, one second power wheel, a sensing module, one first controller and one second controller.Then, via the driving situation of sensing module sensing body, and export a plurality of sensing signals according to this.Then obtain one first takeoff output value and one second takeoff output value according to these sensing signals via first controller.Then, drive first power wheel via first controller according to the first takeoff output value.And, drive second power wheel via second controller according to the second takeoff output value.
The conveying arrangement with multiplex control system of the foregoing description utilizes multiplex control system is provided with at least two controllers, and these controllers all electrically connect with sensing module, and electrically connects each other with the relation of parallel connection.Therefore, if a controller is arranged wherein can not normal operation the time, whether all the other controllers can be redistributed power or go with subsequent use pattern according to preset takeoff output value according to the sensing signal decision.Therefore, when conveying arrangement had component wear, conveying arrangement still can slowly go to car-shop or safety zone and overhaul.
In addition; Compare with known, the foregoing description is about to controller moduleization treater and actuator and combines; Let conveying arrangement have a plurality of controllers; Then, again with electrically connecting each other with man-to-man mode between each controller and each power wheel, make each controller only need be responsible for controlling the takeoff output of corresponding power wheel.Solving known conveying arrangement in bus, sensor, control module, or the shortcoming that can't go during inefficacy such as motor component.Because of multiplex control system of the present invention adopts common hardware structure, and possess the extendibility of multiple-wheel drive, therefore can be arranged at the conveying arrangement of different wheel numbers.
The explanation of above explanation and following embodiment about content of the present invention be in order to demonstration with explain principle of the present invention, and claims of the present invention explanation further is provided.
Description of drawings
Fig. 1 is the block schematic diagram of the conveying arrangement with multiplex control system of first embodiment.
Fig. 2 is the block schematic diagram that the power wheel of Fig. 1 amplifies.
Fig. 3 is the block schematic diagram of the sensing module of Fig. 1.
Fig. 4 is the control flow chart of Fig. 1.
Fig. 5 is the testing process figure of Fig. 1.
Fig. 6 is the block schematic diagram of the conveying arrangement with multiplex control system of second embodiment.
Fig. 7 A to Fig. 7 C is the testing process figure of Fig. 6.
[component symbol explanation]
10 multiplex control systems
20 conveying arrangements
21 bodies
22 first power wheels
23 second power wheels
24 the 3rd power wheels
25 CD-ROM drive motors
26 driving situations
100 sensing modules
110 steering angle sensors
120 accelerator pedal sensor
130 brake pedal sensors
140 car speed sensors
200 first controllers
210 first processing modules
220 first driver modules
300 second controllers
310 second processing modules
320 second driver modules
400 the 3rd controllers
410 the 3rd processing modules
420 the 3rd driver modules
The specific embodiment
See also Fig. 1 to Fig. 3.Fig. 1 is the block schematic diagram of the conveying arrangement with multiplex control system of first embodiment, and Fig. 2 is the block schematic diagram that the power wheel of Fig. 1 amplifies, and Fig. 3 is the block schematic diagram of the sensing module of Fig. 1.
The conveying arrangement 20 of present embodiment comprises a body 21 and a multiplex control system 10.Body 21 comprises one first power wheel 22 and one second power wheel 23, but not as limit, can have below two or plural power wheel at other embodiment.First power wheel 22 and second power wheel 23 respectively have a CD-ROM drive motor 25, and CD-ROM drive motor 25 can be integrated in respectively in each power wheel to form in-wheel motor (as shown in Figure 2), and it is outer to form the outer motor of wheel also to be independent of each power wheel.Two CD-ROM drive motors 25 are respectively in order to drive first power wheel 22 and second power wheel 23.Each power wheel is electric-powered the wheel in the present embodiment.
The multiplex control system 10 of present embodiment is disposed at body 21 and comprises a sensing module 100, one first controller 200 and one second controller 300.Sensing module 100, first controller 200 and second controller 300 electrically connect each other, and the mode of its electric connection electrically connects through the mode of controller zone network bus (Control Area Network Bus, CAN Bus) each other.
First controller 200 and second controller 300 electrically connect sensing module 100 respectively, and first controller, 200 electric connections, first power wheel 22, and second controller 300 electrically connects second power wheel 23.Wherein, first controller 200 comprises one first processing module 210 and one first driver module 220, and second controller 300 comprises one second processing module 310 and one second driver module 320.First processing module 210 obtains one first takeoff output value and one second takeoff output value according to these sensing signals; And order first driver module 220 to drive first power wheel 22, and export second takeoff output value to the second processing module 310 according to the first takeoff output value.And second processing module 310 orders second driver module 320 to drive second power wheel 23 according to the second takeoff output value.Wherein, the first takeoff output value can greater than, be equal to or less than the second takeoff output value.
Wherein, treater can be the acquisition of tabling look-up according to the gain impetus mode of output valve of sensing signal, also can be to obtain via computing, not as limit.
In addition; First controller 200 and second controller 300 of present embodiment respectively have an identification sign indicating number; Can determine first controller 200 when making first controller 200 and second controller 300 get into the preceence programs is master mode or auxilliary control pattern, and second controller 300 is master mode or auxilliary control pattern.Wherein, the controller of master mode is responsible for according to these sensing signals output valve that gains impetus, and the value of outputing power exports the controller of each auxilliary control pattern to.
Next continue to introduce the control method of the conveying arrangement 20 with multiplex control system 10, see also Fig. 4, Fig. 4 is the control flow chart of Fig. 1.And the number of the controller of present embodiment and power wheel respectively is two.
At first, in step S001, start a conveying arrangement 20, conveying arrangement 20 comprises one first power wheel 22, one second power wheel 23, a sensing module 100, one first controller 200 and one second controller 300.
Then, in step S002,, and export a plurality of sensing signals according to this via the driving situation of sensing module 100 sensing bodies 21.
Then, in step S003, obtain one first takeoff output value and one second takeoff output value according to these sensing signals via first controller 200.
Then, in step S004, drive first power wheel 22 according to the first takeoff output value via first controller 200.
Then, in step S005, drive second power wheel according to the second takeoff output value via second controller.
Wherein, behind step S001, also comprise a trace routine, see also Fig. 5, Fig. 5 is the testing process figure of Fig. 1.
At first, in step S110, judge whether fault of first controller 200 and first power wheel 22.If, get into failure mode then according to step S111.Return step S110.Wherein, first controller, 200 entering failure modes mean first controller 200 and can't drive first power wheel 22 again.
If not, represent first controller 200 and first power wheel 22 all can normal operation, then get into step S120, whether all the other elements of judging conveying arrangement 20 fault.Wherein all the other elements of conveying arrangement 20 comprise sensing module 100, the circuit that electrically connects, second controller 300, second power wheel 23.If, then according to step S121, get into standby mode (Limp Home Mode), return step S110.Wherein, First controller, 200 entering standby modes mean first controller 200 and only can drive first power wheel 22 with the preset takeoff output value that is lower than the first takeoff output value; Preset takeoff output value can be the minimum power that can drive conveying arrangement 20, in order to conveying arrangement 20 under the incomplete situation of function, still can be continued to go.
For instance, but when 200 normal operations of first controller, and second controller 300 can't normal operation, then because second power wheel 23 can't can't be provided enough power by driving, turns to, quickens and operation such as brake so conveying arrangement 20 can't be accomplished easily.Therefore, first controller 200 according to preset takeoff output value first power wheel 22 can be rotated further, and lets conveying arrangement 20 provide power to advance at a slow speed with single-wheel, overhauls slowly to go to car-shop or safety zone.
If not, represent conveying arrangement 20 whole elements all can normal operation, then get into step S130, carry out a preceence trace routine, wherein preceence trace routine such as step S140 judge whether first controller 200 is highest priority.If then first controller 200 is a master mode, be responsible for according to these sensing signals output valve that gains impetus, and the value of outputing power exports to and is in second controller 300 of assisting the control pattern.
Wherein, judge whether that the mode for highest priority is the identification sign indicating number of mutual each controller of comparison, can get have maximum identification sign indicating number controller as master mode, also can get have minimum identification sign indicating number controller as master mode.
Is example to get the controller with minimum identification sign indicating number as master mode, if the identification sign indicating number of first controller 200 less than the identification sign indicating number of second controller 300, then first controller 200 can get into step S150, first controller 200 is a master mode.
In like manner, second controller 300 is carried out same trace routine as first controller 200, like step S210 to step S250, to determine the master mode of second controller 300.
In other embodiments, the quantity of the power wheel of conveying arrangement 10 can be more than two, next will describe with second embodiment, sees also Fig. 6, and Fig. 6 is the block schematic diagram of the conveying arrangement with multiplex control system of second embodiment.The conveying arrangement 10 of present embodiment is an example with three power wheels, and if the quantity of the power wheel of conveying arrangement 10 is more than three, its operation principles is as present embodiment.
The conveying arrangement 20 of present embodiment comprises a body 21 and a multiplex control system 10.Body 21 comprises one first power wheel 22 and one second power wheel 23 and one the 3rd power wheel 24, but not as limit, can have below two or plural power wheel at other embodiment.First power wheel 22, second power wheel 23 and the 3rd power wheel 24 respectively have a CD-ROM drive motor 25.And three CD-ROM drive motors 25 are respectively in order to drive first power wheel 22, second power wheel 23 and the 3rd power wheel 24.Each power wheel is electric-powered the wheel in the present embodiment.
The multiplex control system 10 of present embodiment is disposed at body 21 and comprises a sensing module 100, one first controller 200, one second controller 300 and one the 3rd controller 400.Sensing module 100, first controller 200, one second controller 300 and one the 3rd controller 400 electrically connect each other; The mode of its electric connection electrically connects through the mode of controller zone network bus (Control Area Network Bus, CAN Bus) each other.Wherein sensing module 100 is similar with first embodiment, so repeat no more.
First controller 200, one second controller 300 and one the 3rd controller 400 electrically connect sensing module 100 respectively; And first processing module 210 obtains one first takeoff output value, one second takeoff output value and one the 3rd takeoff output value according to these sensing signals; And order first driver module 220 to drive first power wheel 22, and export the second takeoff output value and the 3rd takeoff output value to the second processing module 310 and the 3rd processing module 410 respectively according to the first takeoff output value.And second processing module 310 orders second driver module 320 to drive second power wheel 23 according to the second takeoff output value, and the 3rd processing module 410 orders the 3rd driver module 420 to drive the 3rd power wheel 24 according to the 3rd takeoff output value.Wherein, treater can be the acquisition of tabling look-up according to the gain impetus mode of output valve of sensing signal, also can be to obtain via computing, not as limit.
Next continue to introduce the trace routine in the control method of conveying arrangement 20, because control method is similar with first embodiment, so repeat no more with multiplex control system 10.See also Fig. 7 A to Fig. 7 C, Fig. 7 A to Fig. 7 C is the testing process figure of Fig. 6.And present embodiment respectively is three with the number of controller and power wheel is example.
At first, in step S310, judge whether fault of first controller 200 and first power wheel 22.If, get into failure mode then according to step S311.Return step S310.Wherein, first controller, 200 entering failure modes mean first controller 200 and can't drive first power wheel 22 again.
If not, represent first controller 200 and first power wheel 22 all can normal operation, then get into step S320, whether all the other elements of judging conveying arrangement 20 fault.Wherein all the other elements of conveying arrangement 20 comprise sensing module 100, the circuit that electrically connects, second controller 300, the 3rd controller 400, second power wheel 23 and the 3rd power wheel 24.If, then judge according to step S321 whether first controller gets into the power evaluation profile, whether need redistribute power with the assessment conveying arrangement.Second controller 300 and second power wheel 23 and the 3rd controller 400 and the 3rd power wheel 24 only have any a group or a damage then to represent conveying arrangement 20 to still have two controller normal operations (to suppose that second controller 300 damages but this step and the different part of first embodiment are; But then first control the 200 and the 3rd controller, 400 normal operations); So first controller 100 is according to step S330; Carry out a preceence trace routine; Wherein preceence trace routine such as step S340 judge whether first controller 200 is highest priority.If then first controller 200 is a master mode, be responsible for according to these sensing signals output valve that gains impetus, and the value of outputing power exports to and is in second controller 300 of assisting the control pattern.
In addition; If arbitrary element is respectively arranged for second controller 300 and second power wheel 23 and the 3rd controller 400 and 24 liang of groups of the 3rd power wheel or all element can not normal operation; Then, get into standby mode (Limp Home Mode), return step S310 according to step S322.Wherein, First controller, 200 entering standby modes mean first controller 200 and only can drive first power wheel 22 with the preset takeoff output value that is lower than the first takeoff output value; Preset takeoff output value can be the minimum power that can drive conveying arrangement 20, in order to conveying arrangement 20 under the incomplete situation of function, still can be continued to go.
For instance; But when 200 normal operations of first controller; And second controller 300 and the 3rd controller 400 can't normal operations; Then because second power wheel 23 and the 3rd power wheel 24 can't can't be provided enough power by driving, turn to, quicken and operation such as deceleration so conveying arrangement 20 can't be accomplished easily.Therefore, first controller 200 according to preset takeoff output value first power wheel 22 can be rotated further, and lets conveying arrangement 20 provide power to advance at a slow speed with single-wheel, overhauls slowly to go to car-shop or safety zone.
Again for instance; When steering angle sensor 110 can not normal operation; And all the other elements of conveying arrangement 20 are all can normal operation the time, but because of conveying arrangement 20 can't sense all information of conveying arrangement cruising of letting, so first controller 200 can first power wheel 22 can be rotated further according to preset takeoff output value equally; Let conveying arrangement 20 provide power to advance at a slow speed, overhaul slowly to go to car-shop or safety zone with single-wheel.
If not, represent conveying arrangement 20 whole elements all can normal operation, then get into step S330, carry out a preceence trace routine, wherein preceence trace routine such as step S340 judge whether first controller 200 is highest priority.If, then get into step S350, judge that first controller 200 is master mode, be responsible for according to these sensing signals output valve that gains impetus, and the value of outputing power exports to and is in second controller 300 of assisting the control pattern.
In like manner, second controller 300 is carried out same trace routine as first controller 200, like step S410 to step S450, to determine the master mode of second controller 300.The 3rd controller 400, like step S510 to step S550, to determine the master mode of the 3rd controller 400.
The conveying arrangement with multiplex control system of the foregoing description utilizes multiplex control system is provided with at least two controllers, and these controllers systems all electrically connect with sensing module, and electrically connects each other with the relation of parallel connection.Therefore, if a controller is arranged wherein can not normal operation the time, whether all the other controllers can be redistributed power or go with subsequent use pattern according to preset takeoff output value according to the sensing signal decision.Therefore, when conveying arrangement had component wear, conveying arrangement still can slowly go to car-shop or safety zone and overhaul.
In addition; Compare with known, the foregoing description is about to controller moduleization treater and actuator and combines; Let conveying arrangement have a plurality of controllers; Then, again with electrically connecting each other with man-to-man mode between each controller and each power wheel, make each controller only need be responsible for controlling the takeoff output of corresponding power wheel.Solving known conveying arrangement in bus, sensor, control module, or the shortcoming that can't go during inefficacy such as motor component.Because of multiplex control system of the present invention adopts common hardware structure, and possess the extendibility of multiple-wheel drive, therefore can be arranged at the conveying arrangement of different wheel numbers.
Claims (19)
1. conveying arrangement with multiplex control system, it comprises:
One body comprises one first power wheel and one second power wheel, and this first power wheel and this second power wheel are articulated in the bottom of this body respectively; And
One multiplex control system is disposed at this body, comprising:
One sensing module in order to a driving situation of this body of sensing, and is exported a plurality of sensing signals according to this;
One first controller electrically connects this first power wheel; And
One second controller electrically connects this second power wheel;
Wherein, When this conveying arrangement running; This first controller obtains one first takeoff output value and one second takeoff output value according to these sensing signals; And drive this first power wheel according to this first takeoff output value, and this second takeoff output value is reached this second controller, this second controller drives this second power wheel according to this second takeoff output value.
2. the conveying arrangement with multiplex control system as claimed in claim 1; Wherein this first controller comprises one first processing module and one first driver module; This first processing module obtains this first takeoff output value according to these sensing signals, and this first driver module drives this first power wheel according to this first takeoff output value.
3. the conveying arrangement with multiplex control system as claimed in claim 1; Wherein this second controller comprises one second processing module and one second driver module, and this second processing module drives this second power wheel according to this this second driver module of second takeoff output value order.
4. the conveying arrangement with multiplex control system as claimed in claim 1; Also comprise one the 3rd controller; This body comprises one the 3rd power wheel; This first controller obtains one the 3rd takeoff output value according to those sensing signals, and the 3rd controller comprises one the 3rd processing module and one the 3rd driver module, and the 3rd processing module drives the 3rd power wheel according to the 3rd takeoff output value order the 3rd driver module.
5. the conveying arrangement with multiplex control system as claimed in claim 1, wherein this sensing module comprises:
One steering angle sensor is in order to the steering state of this body of sensing and export a steering angle signal;
One accelerator pedal sensor is in order to the acceleration mode of this body of sensing and export an ARC Acceleration Signal;
One brake pedal sensor is in order to the deceleration regime of this body of sensing and export a restriction signal; And
One car speed sensor is in order to the speed of a motor vehicle state of this body of sensing and export a GES.
6. control method with conveying arrangement of multiplex control system, its step comprises:
Start a conveying arrangement, this conveying arrangement comprises a body, a sensing module, one first controller and one second controller, and this body comprises one first power wheel, one second power wheel;
Via the driving situation of this this body of sensing module sensing, and export a plurality of sensing signals according to this;
Obtain one first takeoff output value and one second takeoff output value via this first controller according to those sensing signals;
Drive this first power wheel via this first controller according to this first takeoff output value; And
Drive this second power wheel via this second controller according to this second takeoff output value.
7. the control method with conveying arrangement of multiplex control system as claimed in claim 6, wherein be somebody's turn to do driving situation, and after exporting the step of these sensing signals according to this, also comprise via this this body of sensing module sensing:
Obtain one the 3rd takeoff output value via this first controller according to those sensing signals; And
Drive one the 3rd power wheel via one the 3rd controller according to the 3rd takeoff output value.
8. the control method with conveying arrangement of multiplex control system as claimed in claim 6 also comprises a trace routine after wherein starting the step of this conveying arrangement, the steps include:
Judge whether fault of this first controller or this first power wheel;
If, judge that then this first controller is a failure mode, this failure mode can't drive this first power wheel for this first controller; And
If not, then obtain this first takeoff output value and this second takeoff output value, and drive this first power wheel according to this first takeoff output value according to those sensing signals.
9. the control method with conveying arrangement of multiplex control system as claimed in claim 8, judge that wherein whether this first controller or this first power wheel also comprise step after the step of fault:
Whether all the other elements of judging this conveying arrangement fault;
If; Then this first controller gets into a power evaluation profile; Whether this power evaluation profile need redistribute power for this conveying arrangement of assessment; Then carry out a preceence trace routine if desired, if do not need then get into a standby mode, this standby mode for this first controller according to one be lower than this first takeoff output value preset takeoff output value drive this first power wheel; And
If, then this first controller is not carried out this preceence trace routine.
10. the control method with conveying arrangement of multiplex control system as claimed in claim 9, the step of wherein carrying out this preceence trace routine comprises:
Whether differentiate this first controller is highest priority;
If then this first controller gets into a master mode, and in order to be responsible for obtaining this first takeoff output value and this second takeoff output value according to those sensing signals; And
If not, then this first controller gets into an auxilliary control pattern, and in order to be responsible for receiving the takeoff output value of the controller output that gets into this master mode.
11. the control method with conveying arrangement of multiplex control system as claimed in claim 10, the step of wherein differentiating this first controller and whether be highest priority also comprises step:
The identification sign indicating number of the identification sign indicating number of this first controller and this second controller relatively, if this first controller has a minimum identification sign indicating number, then this first controller gets into this master mode.
12. the control method with conveying arrangement of multiplex control system as claimed in claim 10, the step of wherein differentiating this first controller and whether be highest priority also comprises step:
The identification sign indicating number of the identification sign indicating number of this first controller and this second controller relatively, if this first controller has a maximum identification sign indicating number, then this first controller gets into this master mode.
13. the control method with conveying arrangement of multiplex control system as claimed in claim 8, wherein the step of this trace routine comprises:
Judge whether fault of this second controller or this second power wheel;
If, judge that then this second controller is a failure mode, this failure mode can't drive this second power wheel for this second controller; And
If not, then obtain this first takeoff output value and this second takeoff output value, and drive this second power wheel according to this second takeoff output value according to those sensing signals.
14. the control method with conveying arrangement of multiplex control system as claimed in claim 13 judges that wherein whether this second controller or this second power wheel also comprise step after the step of fault:
Whether all the other elements of judging this conveying arrangement fault;
If; Then this second controller gets into a power evaluation profile; Whether this power evaluation profile need redistribute power for this conveying arrangement of assessment; Then carry out a preceence trace routine if desired, if do not need then get into a standby mode, this standby mode for this first controller according to one be lower than this first takeoff output value preset takeoff output value drive this first power wheel; And
If, then this first controller is not carried out this preceence trace routine.
15. the control method with conveying arrangement of multiplex control system as claimed in claim 14, the step of wherein carrying out this preceence trace routine comprises:
Whether differentiate this second controller is highest priority;
If then this second controller gets into a master mode, in order to be responsible for obtaining this first takeoff output value and this second takeoff output value according to these sensing signals; And
If not, then this second controller gets into an auxilliary control pattern, in order to be responsible for receiving the takeoff output value of the controller output that gets into this master mode.
16. the control method with conveying arrangement of multiplex control system as claimed in claim 15, the step of wherein differentiating this second controller and whether be highest priority also comprises step:
The identification sign indicating number of the identification sign indicating number of this first controller and this second controller relatively, if this second controller has a minimum identification sign indicating number, then this second controller gets into this master mode.
17. the control method with conveying arrangement of multiplex control system as claimed in claim 15, the step of wherein differentiating this second controller and whether be highest priority also comprises step:
The identification sign indicating number of the identification sign indicating number of this first controller and this second controller relatively, if this second controller has a maximum identification sign indicating number, then this second controller gets into this master mode.
18. a multiplex control system is disposed at a body, this body comprises one first power wheel and one second power wheel, comprising:
One sensing module in order to a driving situation of this body of sensing, and is exported a plurality of sensing signals according to this;
One first controller comprises one first processing module and one first driver module, and this first processing module drives this first power wheel according to this this first driver module of first takeoff output value order; And
One second controller comprises one second processing module and one second driver module, and this second processing module drives this second power wheel according to this this second driver module of second takeoff output value order.
19. multiplex control system as claimed in claim 18 also comprises:
One the 3rd controller comprises one the 3rd processing module and one the 3rd driver module, and the 3rd processing module drives the 3rd power wheel according to the 3rd takeoff output value order the 3rd driver module.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201161480485P | 2011-04-29 | 2011-04-29 | |
| US61/480,485 | 2011-04-29 | ||
| TW100131381A TWI440569B (en) | 2011-04-29 | 2011-08-31 | Multiplexing controller system and transport device having the same and control method thereof |
| TW100131381 | 2011-08-31 |
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| Publication Number | Publication Date |
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| CN102756669A true CN102756669A (en) | 2012-10-31 |
| CN102756669B CN102756669B (en) | 2014-09-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210021398.8A Active CN102756669B (en) | 2011-04-29 | 2012-01-31 | Multiplex control system, transport device with multiplex control system and control method |
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| US (1) | US20120290186A1 (en) |
| CN (1) | CN102756669B (en) |
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| CN110168506A (en) * | 2017-01-13 | 2019-08-23 | 黑拉有限责任两合公司 | For the control system of motor vehicle, motor vehicle, the method for controlling motor vehicle, computer program product and computer-readable medium |
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| CN115610346A (en) * | 2022-09-29 | 2023-01-17 | 成都赛力斯科技有限公司 | Automobile risk control method, automobile, computer device and storage medium |
| WO2023245540A1 (en) * | 2022-06-23 | 2023-12-28 | 华为技术有限公司 | Control system and terminal device |
| WO2024082904A1 (en) * | 2022-10-21 | 2024-04-25 | 华为数字能源技术有限公司 | Controller of electric motor control module, control method for electric motor, and related device |
| WO2024113205A1 (en) * | 2022-11-30 | 2024-06-06 | 华为技术有限公司 | Driving control system, driving control method and related apparatus |
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| Publication number | Publication date |
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| CN102756669B (en) | 2014-09-03 |
| US20120290186A1 (en) | 2012-11-15 |
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